Embedded network-controlled omni-directional motion system with optical flow based navigation

Abstract

The present invention discloses an embedded network-controlled omni-directional motion system with optical flow based navigation, wherein multiple motion units and at least one embedded network control system are installed to the body, and at least one optical flow sensor is installed on the ground-facing surface of the body. The movement of the body is driven by the motion units, and the motion unit has an omni-directional wheel and a motor device. The optical flow sensors detect the state of motion and create optical-flow detection data. The embedded network control system exchanges motion control instructions and optical-flow detection data with an external information-processing unit via a communication network. Further, the motion system of the present invention may also connect with peripheral control devices to increase the control convenience of the system. As the system of the present invention adopts an optical flow based navigation technology, the system of the present invention can be free from the influence of wheel sliding, environmental variation, and accumulated errors and can achieve accurate navigation.

1 . An omni-directional motion system with optical flow based navigation, comprising: 
 a body;    multiple motion units, installed to said body, and used to control the motion and driving of said body with each said motion unit further comprising: 
 an omni-directional wheel; and  
 a motor device, coupled to said omni-directional wheel, and providing driving force for said omni-directional wheel; and  
   at least one optical flow sensor, installed on the ground-facing surface of said body, used to detect the motion state of said body, and creating optical flow detection data.    
   
   
       2 . The omni-directional motion system with optical flow based navigation according to  claim 1 , wherein said motion system may provide a motion mode of in-situ rotation.  
   
   
       3 . The omni-directional motion system with optical flow based navigation according to  claim 1 , wherein said motion system may provide a motion mode of heading straight.  
   
   
       4 . The omni-directional motion system with optical flow based navigation according to  claim 1 , wherein said motion system may provide a motion mode of differential turning.  
   
   
       5 . The omni-directional motion system with optical flow based navigation according to  claim 1 , wherein said motion system may provide a motion mode of translation.  
   
   
       6 . The omni-directional motion system with optical flow based navigation according to  claim 1 , wherein said motion system may provide a motion mode of translation plus rotation.  
   
   
       7 . The omni-directional motion system with optical flow based navigation according to  claim 1 , wherein multiple microcontroller units are used to respectively control the rotation directions and rotation speeds of said motor devices.  
   
   
       8 . The omni-directional motion system with optical flow based navigation according to  claim 7 , wherein said microcontroller units utilizes an omni-directional wheel kinematic algorithm to control the rotation directions and rotation speeds of said motor devices.  
   
   
       9 . An embedded network-controlled omni-directional motion system with optical flow based navigation, comprising: 
 a body;    multiple motion units, installed to said body, and used to control the motion and driving of said body with each said motion unit further comprising: 
 an omni-directional wheel;  
 a motor device, coupled to said omni-directional wheel, and providing driving force for said omni-directional wheel; and  
   at least one optical flow sensor, installed on the ground-facing surface of said body, used to detect the motion state of said body, and creating optical flow detection data; and    at least one embedded network control system, installed on the upper surface of said body, receiving motion-control data and feeding back said optical flow detection data via a communication path of network.    
   
   
       10 . The embedded network-controlled omni-directional motion system with optical flow based navigation according to  claim 9 , further comprising: 
 at least one sensor-control unit, coupled to said optical flow sensors, and used to transmit said optical flow detection data created by said optical flow sensors;    at least one motor-control unit, coupled to said motor devices, and used to receive said motion-control data and control said motor devices;    at least two embedded network control units, respectively coupled to said sensor-control unit and said motor-control unit, transmitting said motion-control data to said motor-control unit, and receiving said optical flow detection data from said sensor-control unit; and    at least one wireless network transceiver unit, coupled to said embedded network control units via a switch hub, providing a network communication path for transmitting said motion-control data and said optical flow detection data.    
   
   
       11 . The embedded network-controlled omni-directional motion system with optical flow based navigation according to  claim 9 , wherein said embedded network control unit may be directly linked to an information-processing unit, and said optical flow detection data and said motion-control data are transferred therebetween; said optical flow detection data and said motion-control data are also processed and stored in said information-processing unit.  
   
   
       12 . The embedded network-controlled omni-directional motion system with optical flow based navigation according to  claim 11 , wherein said information-processing unit utilizes an omni-directional wheel kinematic algorithm to process related data.  
   
   
       13 . The embedded network-controlled omni-directional motion system with optical flow based navigation according to  claim 11 , wherein said information-processing unit may be a personal computer or a personal digital assistant.  
   
   
       14 . The embedded network-controlled omni-directional motion system with optical flow based navigation according to  claim 9 , wherein a peripheral control device may be used to control said motion system.  
   
   
       15 . The embedded network-controlled omni-directional motion system with optical flow based navigation according to  claim 14 , wherein said peripheral control device may be a wired remote control device or a wireless remote control device.  
   
   
       16 . The embedded network-controlled omni-directional motion system with optical flow based navigation according to  claim 10 , wherein said wireless network transceiver unit may be a wireless network access point.  
   
   
       17 . The embedded network-controlled omni-directional motion system with optical flow based navigation according to  claim 9 , wherein said communication path of network may be an Ethernet network, an Embedded-Ethernet (IEEE802.3), an Embedded-Wireless LAN (Wi-Fi, IEEE802.11a/b/g), a Bluetooth technology, or a UWB (Ultra Wideband) technology.  
   
   
       18 . The embedded network-controlled omni-directional motion system with optical flow based navigation according to  claim 9 , wherein said motion system may provide a motion mode of in-situ rotation.  
   
   
       19 . The embedded network-controlled omni-directional motion system with optical flow based navigation according to  claim 9 , wherein said motion system may provide a motion mode of heading straight.  
   
   
       20 . The embedded network-controlled omni-directional motion system with optical flow based navigation according to  claim 9 , wherein said motion system may provide a motion mode of differential turning.  
   
   
       21 . The embedded network-controlled omni-directional motion system with optical flow based navigation according to  claim 9 , wherein said motion system may provide a motion mode of translation.  
   
   
       22 . The embedded network-controlled omni-directional motion system with optical flow based navigation according to  claim 9 , wherein said motion system may provide a motion mode of translation plus rotation.  
   
   
       23 . The embedded network-controlled omni-directional motion system with optical flow based navigation according to  claim 9 , wherein multiple microcontroller units are used to respectively control the rotation directions and rotation speeds of said motor devices.  
   
   
       24 . The embedded network-controlled omni-directional motion system with optical flow based navigation according to  claim 9 , wherein said microcontroller units utilize an omni-directional wheel kinematic algorithm to control the rotation directions and rotation speeds of said motor devices.